[Major][Python] Fixing function se3ToXYZQUAT. Change method display in robot_wrapper according to this fix

Add attributes in model.hpp
	- names of fixed body
	- indexes of their closer movable parent
	- visuals booleans
	- number of fixed body
modify display method in robot_wrapper
	- compute and send the absolute placement from relative to the closer movable parent

To do so, added a new parameter ( placementOffSet) which enables to propagate the length of a fixed body to child joints  and edit the urdf tree to remove bypass fixed link when encountered and handled.

The fixed links are not displayed in the viewer yet and not saved in model yet

Follow the advice of gcc by casting directly with the proposed
CoeffBasedProduct template.
Makes gcc happy.
This patch was initially proposed by Florent Valenza but
with another type.

There is still an issue on ConstraintXd.
This commit *does not* compile is here for book-keeping.

[Major] Now handle prismatic joint when parsing urdf. Only cartesion X,Y or Z are accepted, unaligned axis bring crash

[Major] Correction of bugs in JointRevoluteUnaligned and its unittest. The urdf parser nows takes into account this joint. Added a new enum in cartesian axis

[Python][Major] Integrated modifications in Gepetto viewer that reference a window by id instead of string

[Python][Major] Corrected wrapper to CRBA to have  symmetric M, added missing types to access data wrapper, added operator in motion.

[Python] Added xyzquatToSe3 and modified rpyToSO3 to accept matrix instead of tupple as input (impact is marginal, but the modif was necessary to properly parse Maximilien input data).

Conflicts:
	src/multibody/model.hpp
	src/multibody/parser/urdf.hpp